CHAPTER 3 Be3-1. a = mR = % x 100 x 0.5? = 12.5 Kg-n? 3-3-2. Assume that the body of moi moment of inertia J, is turned ‘through a small angie © about the vertical axis and then ° released. The equation of motion for the oscillation is Io =~ ¥0 vhere k is the torsional spring constant of the string. This equation can be written as é+% 6+e-o % or dw? 6+? 0-0 where i oe ae ‘The period To of this oscillation is 2% Dn RR * Q) 0 lk a S Next, we attach a rotating body of unknown monent of inertia J and measure the period T of oscillation. The equation for the period ? is 2% @) By eliminating the unlmown torsional spring constant i from Equations (1) and (2), we obtain on J ; 0 2 ao (2 ° “of 5) (3) ‘The unknown moment of inertia J can therefore be determined by measuring the period of oscillation T and substituting it into Equation (3). 27 JT 7Define the vertical displacement of the ball as x(t) with x(0) = 0. Fe itive direction is downward. The equation of motion for the system is wom vith initial conditions x(0) = 0m and x(0) = 0 m/s. So ve have 4 X= gt + X(0) = at x = gt? + x(0) = 4 gt? L Assume that at t = t, the ball reaches the ground, Then pe. 100 = & x 9.807 t;2 from which we obtain 2 = 4.516 % s ‘The ball reaches the ground in 4.516 s. ‘he velocity of the ball vhen it hits the ground is 9.807 x 4.516 = 44.288 m/s (4.516) B:3-4. Define the torque applied to the flywheel as 7. The equation of motion for the system is w= 7, — @(0) 0, (0) =0 from which we obtain aie Z By substituting numerical values into this equation, we have 20 x 6.28 = Ey x5 7 = 1256 N-m Integrating this equation, 6--tes 6(0), 60) = 100 raa/e Substituting the given numerical values, Ex 15 +100 z 20 = 13Solving for 7/J, we obtain aw T= 5-33 Hence, the deceleration given by the brake is 5.33 rad/s”. ‘The total angle rotated in 15-second period is obtained from ort) =~ E+ Gop + €(0), (0) = 0» 6(0) = 100 as follovs; 2 @(15) = - 5.33 x 12 + 100 x 15 = 900 rad 3&36- The equations for the system are Pak -y) koe -y) = gy Eliminating y fron the two equations gives wy + tk Next, consider the figure shown below. Note that AABD and ACBE are similar. | So we have ze D> BD which can be rewritten as A by af B-e4 De oe Z| —~ “ dp OF & 8 Ge(o8 + 's on) = OA(OB ~ % OC) Solving for 06, we obtain 14hi My Assure that we apply force F to the spring system. ‘Then Fe kx +K,( -y) Kgl ~ y) = ky Eliminating y from the preceding equations, we obtain L ew Batty a) + ky 1 i + ky as * OO as y B38. (a)" The force f due to the dampers is f= bly - 3) + bly - ® (by + DH © 8D In tems of the equivalent viscous friction coefficient beg, force f£ is given by ance £ = begl? - 3) eq = by + be (b) ‘The force f due to the dampers is £ = Dy(é - x) = boy - 2) a where 2 is the displacement of a point between damper by and damper bg. _ (Note that the same force is transmitted through the shaft.) From Equation (1), we have (by + by)z boy + bye 1 by + bp (boy + bX) @) 15In terms of the equivalent viscous friction coefficient eqs force f ie given by £ = Pegl¥ - x) By substituting Equation (2) into Equation (1), we have £ = bly - 2) = bly - Sa (bok + by¥)) _ —bube eos ey o8) ‘Thos, os ae Dike. fs baglt = 8) = ta - 2) = SI GD Hence, ° bbe 1 Yea" Seb bi” be 3:9. Since the same force transmits the shaft, we have £ = by (Z - %) = boly - 2) + DBF - 2) q@) Where displacenent z is defined in the figure below. Lee! LL In terms of the equivalent viscous friction coefficient, the force £ is given by f = Beg(¥ - x) @) From Equation (1) we have by + bye + bye = bye + bah + bah or » 1 : . ze (byx + (bg + b3)¥] 3) by + by + bg By substituting Equation (3) into Equation (1), ve have 161 Dy + by + D3 -% (4) Ubyk + (bz + b3)¥)- af » a ae af et “el by + bz + bg Hence, by comparing Equations (2) and (4), we obtain ey a me (SS B:3:10. ‘The equation for the system is mit Oey + be = eget or me + (k++ (k, +i, + idx ‘The natural frequency of the system is Bck:ll. ‘the density p of the liquid is - Pox where A is the cross-sectional area of the inside of the glass tube. The mathematical model for the system is ~p ig or . . %+2Lx=0 ‘The natural frequency is = fa i, L 7For a small displacement x, the torque balance equation for the B-3-12. system is mi(2a) = - k(- x)a or m+ x=0 ‘The natural frequency is aj/e.1t /40. > w,-+/2-4 /#90. = 14.01 raa/eec 9.81 Applying Newton's second law to the system, we obtain JO = ~ BBy - kG - }) By + By + KOy = KO; ‘This is a mathematical model for the system. B-3-14. A mathematical model for the system is mE = -kyx — by - kx — box or mx + (by + balk + (ky + kg)x = 0 B-3-15. The equation of motion for the system is mk + bk + kx = 0 ‘Substituting the given numerical values for m, b, and k into this equation, we obtain H+ 4k + 20x = 0 q@) where x(0) = 0.1 and %(0) = 0. The response to the given initial condition can be obtained by taking the Laplace transform of this equation, solving the resulting equation for X(s), and finding the inverse Laplace transform of X(s). ‘The Laplace transform of Equation (1) is 2s?x(s) - sx(0) - %(0)] + 4[sx(s) - x(0)] + 20 X(s) = 0 18By substituting the given initial conditions into this last equation, ve get 2[s?x(s) - 0.18] + 4[sX(s) - 0.1] + 20 x(s) = 0 Solving this equation for X(s) gives X(s) = 0,282 0.4. Oot Ole #2) 2s* + 4s + 20 (s #2)? +3) ‘The inverse Laplace transform of this last equation gives x(t) = 0.1(-4 ert sin 3t + e™* cos 3t) B-3-16.. The equations of motion for the system are 98 = (1, - TR “7 ery tt +t, Noting that x = 2y, R0@=x-y=y, andJ = 42, the three equations can be rewritten as 1 = 1 ey = - Eb m5 = omy = (1, - LR uit 1 Mj + ky = 7, +7) Eliminating T, from the preceding equations gives Lony + nf + iy = ar, = - mt By changing y into x, (m +3 mk + J ‘Me natural frequency is 19If mass m is pulled down a distance x, and released with zero initial velocity, the motion of mass n is x(t) = x, cos [2k 7. Referring to the figure below, ve have mi = -T a) where T is the tension in the wire. (Note that since x is measured from the static equilibrium position, the term mg does not enter the equation.) For the rotational motion of the pulley, we have IB = ~eoly + RyB)Rp + Koly - RoB)Rp + TR] - KYRYX or 98 = = 2R7?0- ~ KpRy%e + TR — KYRYX (2) Eliminating T from Bquations (1) and (2), ve obtain IG + 2kpRy20 + mR + KyRyX = 0 Since x = R16, we have 98 + 2kyRy20 + mRy2S + 1yR;28 = 0 or (a + m2) + (ZegRy? + kyRy2)@ = 0 or vy 2k Ry? + KyRy? e+ e=0 J + my? ‘this last equation is a mathematical’ model. of the system. The natural frequency ‘of the system is a DegRy? + KR? a T+ my? B-3-18. Torque = T = 50 x 0.5 = 25 Nem Power = Tc = 25 x 100 = 2500 N-n/s = 2500 W 203-319, ‘The potential energy of the system consists of the potential energy of the mass m and that of the springs. Choose the datum line such that the potential energy at the: equilibrium position (where the pendulum is ver- tical) to be zero. Then the poten- tial energy, when the pendulum is vibrating, is w= — (1 ~ cose) £ mg + 'ac(@h)2 + Yye(eh)2 4 ’ = =~ (2 = c0s0) {mg + x62n2 | / Since the expression for U involves 62 but does not involve 8, it is necessary to expand cos 8 into the following infinite series: 2 cos 6 1-2 ,94 and retain only the first two terms, or cos @ = 1 - § 6? ‘The potential energy U for small @ can then be written as u=- (1-2 + 02)/ mg + 67h? (32 ~ 5. £ mg)0? ‘The kinetic energy T when the pendulum is vibrating is 7 = Ym( f8)2-= 4m 928? When the pendulum is vibrating, we can assune that @ =A cinwt where A ie the amplitude of vibration. By substituting the preceding expression for @ into the potential energy U and kinetic energy T, we obtain U= (en? ~ kfng)a? sin?w t p = tm f2n2 W2 cos2w t Hence, Ugg and T pax can be obtained as Una = (eh? - 5 Amg\A2, Tax = 4m £20? a 2 21By equating Upax and Tax, ve have (in? - Ling)a2 = tm £2a2 47 2 which can be simplified to 2 = 2xn2 —Lma 2un?___¢ Pn 22g m /2 mf? 2 Hence, the frequency of vibration is @ =| ee ae Note that this expression is valid for small @ such that cos © can be approximated by 1 - 362. 33-20. ‘The kinetic energy T is rennet ge (ety? ag - hes By 9%? The potential energy U is v= Mg f( - cos 8) + {taxa - ese) a3 = (4 +-Bgf(1 - cos 8) Since the systen is conservative, we have pos Soe + Bp? + (+ Bag La - cos 0) = constant Noting that a(P + U)/dt = 0, we obtain (+B) P+ Mt gf sin 06 [oe + By £25 + one Bags ain ole Since @ is not identically zero, ve have 1+ R076 + (0+ Bog f sin e= 22Reuriting, For small values of 6,CHAPTER 4 Be4-l. ‘The system equations are Wey (x; y) = by (¥ ~ %) by - 5) = eX ‘which can be revritten as by gy spy 1 PX byh + 1X = Py Noting that x,(0-) = 0 and y(0-) = 0, by talking the gb_ transform of these ‘two equations we obtain (bys + )¥(e) = 14% (9) + BySX,(8) (bs + k,)¥,(s) = b,s¥(s) By eliminating Y(s) from the preceding two equations, ve get bys + ky . (bs + k,) 2 xis) = yx; (8) + b,SK, (5) Simplicying, [Obey + Hey )dyS + KyK] Xo(S) = ybyS%; (5) or Xs) bys ae X,(5) 0 + KBs +k (2, 2 gO) OT ME TMM” (Lah) ne v3 ‘The response of the system to x;(t) = x;1(t) can be obtained by taking the inverse Laplace transform of (oy/eg)s 4 & s 24 X,(s) = 1 ab \ins4 2 i) Pymt, as follows: kX aX aya x(t) = +t/( + Ib, tZzo ott) = ES 0 fe dm} 4-2. ‘The equations of motion for the system are k, ( - x) = Bk - b(k - ¥) = Ry Rewriting these equations, bok, + yx, = yt boy bil Hey = hay Noting that x(0-) = 0 ana also y(0-) = 0, £. transforms of these two equations become (os + «)x,(8) = kx) + bys¥(s) (bs + ,)¥(8) = b,SK (8) Eliminating ¥(s) from the last two equations, we obtain b,sXx,(s) (bys + k,)X,(8) = kX, (8) + b,8 ek 2 which can be simplified as [(k, + kp )bye + KykgIK,(s) = i, (bps + Kp) X,(s) ___ ky (bys +) Xe) ey + kp)bS + yk Since the input x;(t) is given as 25x; (t) = X; o ‘Thus, the system is a differentiating element. For the unit-step input x(s) = 1/s, the output @(s) becomes 1 (5) = ae of ‘The inverse Laplace transform of @(s) gives ert) = L en(k/nt L ‘The response curve 9(t) versus t is an exponentially decaying curve. ‘The system equation is ~b(& - &) - k(x - 0) mt + bk + Joc = bi + ku ‘taking the Laplace transform of this equation, assuming zero initial conditions, we obtain (ms? + bs + k)X(s) = (bs + k)U(s) a) Rewriting Equation (1) in the following way, bs +k 0) = epee 30we get the block diagram shom in Figure (a). Figure (a) By rewriting Equation (1) in the following way (ms? + bs)x(s) = (bs + k)UCs) - KX(s) we obtain the block diagram as shown in Pigure (b). Ww) 7 xO) Pigure (b) _ ms*+ bs If we rewrite Bquation (1) as ns?x(s) = (bs + k)[U(s) - x(s)] we get the block diagram as shown in Figure (c). Pigure (c) Also, by rewriting Equation (1) as (bs + K)U(e) ~ fiers) + bex(s)] = ms2x(s) and dividing all terms by m, we get ELK pie) - E x(0) - 2 ex(s) = 5%x(s) m m 2 Prom this equation we get the block diagram shown in Figure (d)- 31s, ) SXOTT Xe) WG) { bath m Figure (6) B-4-9. A MATLAB program for obtaining the partial-fraction expansion of the given B(s)/A(s) is shown below. >> num = [1]; d>den= (1 2 @ a2 >> format long >> [x,p,k] = residue (num, den) -0.00007527853056 + 0.000677506775071 -0.00007527853055 - 0.000677506775071 -0.01219512195122 0.01234567901235, pe ~0.00000000000000 + 9.000000000000011 =0.00000000000000 - 9.000000000000011 -1.00000000000000 0 From the MATLAB output, we get the following expression: B(s)_ _ -0.00007528 + j0.0006775 __, ~0.00007528 - j0.0006775 a(s) s- 39 s+39 ~0.0121951 0.01234568 + 200121951, 0-01234568 | s+ s 0.00015056s + 0.012195 __ 0.0121951__, 0.01234568 s2 + 61 s+. sB-4-10. A MATLAB program for obtaining the partial-fraction expansion Of the given B(s)/A(s) is given below. >> num = (5 10); p>den=(1 5 19 12 0 Ol; >> [z,p,k] = residue (num, den) 0.0436 + 0.00424 0.0436 - 0.00425 0.8157 -0.9028 0.8333 pe -2.1197 + 3.35091 -2.1197 ~ 3.35994 -0.7507 0 ° 0 From the MATLAB output, we get the following expression: B(s)__ 0.0436 + j0.0042_, __0.0436 - 0.0042 As) 5 + 2.1197 — 33.3589 5 + 2.1197 + 33.3589 0.8157__0.9028 |, 0.8333 s+0.76007° Ss st ___ 0.08725 + 0.1566. 4 0:8157__ 0.9028 , 0.8333 (s + 2.1197)2 + (3.3589)? s + 0.7607 s 82 B-4-11. ‘The equation of motion for the system is if + byk + (iy + kg) = 0 By substituting the numerical values of m, ky, kz, and by into this equation, we obtain K+ 4k + 16x = 0 33Laplace transforming this equation, we get [s?x(s) - sx(0) - %(0)] + 4[sx(s) - x(0)] + 16x(s) = 0 or (s? + 4s + 16)X(s) = sx(0) + (0) + 4x(0) Solving this equation for X(s), x(a) = S(O) + 20) + (0) _ 2+ 45 +16 Since x(0) = 0.05 and x(0) = 1, X(s) becomes X{s) = 2.05842 — s? + 45 +16 0.05(8 +2), __0.3175 x 2/3 (s+ 2)2 4 (2J3)2 (5 + 2)2 + (23)? ‘The inverse Laplace transform of X(s) gives x(t) = 0.05 e-2t cos 2/3 t + 0.3175 e-2t sin 2/3 t ‘This equation gives the time response x(t). The response curve x(t) versus t can be obtained easily by use of MATLAB. Noting that X(s) can be written as x(a) = -0,08824.1.25 1. s2+45416 5 we may define mm = [0.05 1,2 0J den=[2 4 16] and use a step.comand. The following MATIAB program will generate ‘the response curve x(t) versus t as shown on the next page~ num = [0,05 1.2 0] den= (1 4 16); t= 020.0124; x = step (num, den,t); plot (t,x) grid title(*Response x(t) ") xlabel('t. (sec) ') ylabel (x(t) *) 34Response x(t) 02 1 a \ 0.05} - -0.05} B-4-12, In this system u is the input and xp is the output. From Figure 6-57, we obtain the following equations: bye + ky(y - 2) = 0 Ye Gx — x2) = ate + kare Laplace transforming these two equations, assuming zero initial conditions, we obtain (bps + ky)K2(s) — k1%X9(s) = U(s) KaXt(s) = (bys + ky + g)¥2(5) By eliminating X;(s) from these two equations, we get (bys +) a Xp(s) - kiXg(s) = U(s) 2 Simplifying this last equation, ve get Ubybps? + (baka + Buk + bykx)s + krk2}2(6) = 4L0(s) from which we obtain X2(s) kL U(s) —bybas? + (baka + bike + baka )s + kyko 35By substituting numerical values for ky, Kz, by, and by into this last equation, we obtain X2(s) 4 U(s) 10s? + (4 + 20 + 40)s + 4 x 20 0.4 s2 + 6.48 +8 Since the input u is a step force of 2N, we have U(s) = 2/s. X2(s) can be obtained from 0.4 2 x28) = ? s2+6.4s+8 5s 0.8 (s + 4,6967)(s + 1.7033)s 0.2 , 0.0569 _, _-0-1569 8 6+ 4.6967 | 5 + 1.7033 ‘The inverse Laplace transfor of X2(s) gives xg(t) = 0.1 + 0.0569 ~4-6967t 0.1569 e71-7033t ‘the response curve x(t) versus t can be obtained with MATLAB as follows: First note that 0.8 2 X2(s) = a 2 24 6.ds+8 § ‘Then, define mum =[0 0 0.8) den=[1 6.4 8] and use a step comand. The following MATLAB program will yield the response curve x(t). _ The resulting response curve is shown in the figure on the next page- >> num = [0 0 0.8)7 >>den=[1 6.4 8]7 >> t = 020.0124; >> x = step (num,den,t) >> plot (t,x) >> grid >> title(*Response x(t) ") >> xlabel(*t (sec)") >> ylabel(*x(t) ")Response x() oy 0.08 0.08 x® 0.04}— 0.02 Bea-13. The system equation is aka bk S(t), x(0-) 3(0-) = 0 te {. transform of this equation is . (ns? + bs)x(s) = 1 Solving for X(s), we get a ms?+bs ™ s(s +B) x(s) = ‘Then the response x(t) is obtained as 0.005(1 - e-2t) x(t) ‘The velocity X(t) is 0.01 e-2t R(t) ‘Thus X(O+) = 0.01 mys 37‘The initial velocity x(0+) can also be obtained by use of the initial-value theoren. 2 R(O+) = Lim s7x(s) = Lim = 20.01 sro spoo ms? + bs ™ ‘The response curve x(t) versus t is an exponential curve as shown below. x10? Impuise Response The system equation is mk + xe = §(t) Taking the of. transform of the equation, using the initial conditions x(0-) = 0 and X(0-) = 0, we obtain (ms? + k)x(s) = £15 (t)] Hence, the transfer function xX(s)/£_[5(t)] of the system is x(s) 7 i Else} weak since [[5(t)] = 1, we have —& x(s) = —+_ mien oP ‘The inverse Laplace transfor of X(s) is 1 (t) = ee” Tan sin 38‘Tavs, the response x(t) is a sinusoidal motion. The velocity i(t) is fy eee [E x(t) = cos J Hence, the initial velocity (0+) is (0+) = as u(t). Then the B415. Define the force input to the sys' ‘system equation is mk + bk + kx = u(t) where u(t) is a unit-impulse force 0(t). Taking the {transform of this equation with x(0-) = 0 and X(0-) = 0, ve obtain (ms? + bs + k)X(s) = 0(s) ‘The transfer function of the system is ts) = 1 U(s) ms? + bs +k By substituting the given numerical values into the transfer function, we obtain -X(s) = —__1__ Us) 10s? + 20s + 50 ‘The following MATLAB program produces the response x(t). ‘The response curve is shown below. Imps Reeporse os 20 ealf\ impulse (nun, den, t) grid label ("") gon ylabel (*x(t) *) \ ol 4 2% 2 6 8 tye) 39B-4-16. ‘The equation of motion for the system is, mi + or ce) where m = 1 kg, K = 100 N/m, p(t) = 10 S(t) Ny x(0-) = 0.1 m, and X(0-) = 1 ws. By substituting the given numerical values into the system equation, ve obtain +100 x= 10 S(t) ‘Taking the 4. transform of this last equation gives [5?x(s) ~ ox(0-) - ¥(0-)] + 200 x(s) = 10 or (s2 + 100)x(s) = 10 +.0.1s +1 = 11+ 0.15 Solving for X(s) gives 12+ 0.15 X(s) 5 102 ‘The inverse Laplace transform of X(s) gives x(t) = Hh sin 10 + 0.1 cos 108 ‘The system equation is ait = — Dyk — age - bgk ~ ae mi + (by + by)X + (icq + kg)x = 0 Laplace transforming this last equation, we obtain m{s2x(s) - sx(0) ~ £(0)} + (by + bg)fsx(s) - x(0)] + (kj + k2)X(s) = 0 Rewriting, we have {ms? + (by + bg)s + (ky + ko)IX(s) = msx(0) + m&(0) + (by + bg)x(0) Solving for X(s), we get slg) = ALONE + HHO) + (by + baH(0) © ms? + (by + by)s + (iey + eg) By substituting x(0) = x9, x(0) = Vo and the given numerical values into this last equation, we obtain 4010s? + 120s + 1000 sot + %— + 1% s? + 12s + 100 role +6) + (¥o + 6%) (s+ 6)2 + X(s) = ‘the inveree Laplace transform of X(s) gives the output motion x(t). Yo + 60 5 5t sin ot x(t) = x9e76t cos Bt + ‘The motion x(t) ds a damped sinusoidal motion. B-4-18. Referring to the solution to Problem B-4-17, we have mx(0)s + mx(O) + (by + bp)x(0) ms? + (by + bg)s + (ky + kp) x(s) Substituting x(0) = 0 m, x(0) = 0.5 m/s, m = 100 kg, by = 120 N-s/m, bg = 80 N-s/n, ky = 200 N/m, and kz = 300 N/m into this last equation, ve obtain 100 x 0.5 1) 100s? + 2008 + 500 0.5 st+2s+5 ‘The response x(t) to the given initial condition can be obtained from X(s) by rewriting it as 05s 1 x(s) s?+25+5 8 and using a step comand. A possible MATLAB program to obtain the response x(t) is given below. The resulting response curve x(t) versus t is shown on the next page. plot (t,x) grid title('Response to Initial Condition"); xlabel("t (sec) ") ylabel (?x(t)") al0.15 Response to Initial Condition t (sec)